CN114077259B - Unpowered downslide control method for solar unmanned aerial vehicle - Google Patents
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Abstract
The invention provides a solar unmanned aerial vehicle unpowered downslide control method, which comprises the following steps: the inner ring carries out tracking adjustment on the expected speed according to the pitch angle; the outer ring tracks and adjusts the expected speed according to the expected vertical speed command; and performing course tracking control and yaw stability augmentation control on the lateral direction to complete unpowered gliding control of the solar unmanned aerial vehicle. By applying the technical scheme of the invention, the technical problems that the unmanned aerial vehicle unmanned slip control method in the prior art mainly aims at the unmanned slip landing stage, the calculated amount is large, the engineering feasibility is low, and the requirements of unmanned aerial vehicle flight safety and energy optimization cannot be met can be solved.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to an unpowered downslide control method of a solar unmanned aerial vehicle.
Background
Engine parking is one of the common accidents of unmanned aerial vehicles, after the unmanned aerial vehicle suddenly parks in the air, thrust disappears, aerodynamic force is obviously changed, stall phenomenon of the unmanned aerial vehicle can be possibly caused, and irrecoverable loss can be caused if an appropriate emergency control strategy is not available. Under the condition that no thrust is generated, the control performance of the aircraft is reduced, and the common controller cannot meet the requirement of emergency control, so that the sliding control law of the unmanned aerial vehicle in the unpowered state needs to be studied. Meanwhile, for the solar unmanned aerial vehicle, the main energy sources are from the solar energy acquired by the airborne energy storage battery and the airplane, the energy system of the solar unmanned aerial vehicle is weak in conversion and storage capacity, the solar panel can provide smaller power, and in order to meet the requirements of the solar unmanned aerial vehicle for long voyage, a corresponding control strategy needs to be designed in combination with the characteristics, namely, in the high-altitude flight process, the sliding-down section can adopt an unpowered sliding-down strategy, so that the power consumption brought by maintaining the speed and adjusting the motor is reduced. In the prior art, effective and safe control of the unpowered downslide of the aircraft is realized through research on the control law of the unpowered downslide, and a feasible track is calculated by offline or online iteration for the high-altitude reentry aircraft generally, so that the unmanned aerial vehicle can track the track to finish the unpowered downslide.
Disclosure of Invention
The invention provides an unpowered downslide control method of a solar unmanned aerial vehicle, which can solve the technical problems that the unpowered downslide control method of the solar unmanned aerial vehicle in the prior art mainly aims at an unpowered downslide landing stage, is large in calculated amount and low in engineering feasibility, and cannot meet the requirements of flight safety and energy optimization of the unmanned aerial vehicle.
The invention provides a solar unmanned aerial vehicle unpowered downslide control method, which comprises the following steps: the inner ring carries out tracking adjustment on the expected speed according to the pitch angle; the outer ring tracks and adjusts the expected speed according to the expected vertical speed command; and performing course tracking control and yaw stability augmentation control on the lateral direction to complete unpowered gliding control of the solar unmanned aerial vehicle.
Further, the inner ring performs tracking adjustment on the expected speed according to the pitch angle specifically including: constructing a control law of a speed loop according to theta pr＝KV(V-Vias_pr)+KVi∫(V-Vias_pr) dt, wherein theta pr is a desired pitch angle instruction, V ias_pr is a desired indicated airspeed, V is the indicated airspeed, K V is a first speed loop control parameter, and K Vi is a second speed loop control parameter; and tracking and adjusting the expected speed according to the control law of the speed loop.
Further, the outer loop obtaining a desired speed command according to the desired vertical speed command to adjust the desired speed specifically includes: according toConstructing a control law of a longitudinal vertical speed loop, wherein V c is the navigation point binding speed or the set reference speed,/>To expect a vertical instruction,/>Is vertical speed/>For the first droop control loop control law parameters,/>Control law parameters for the second vertical speed control loop; the desired speed is adjusted according to the control law of the longitudinal droop circuit.
Further, performing course tracking control and yaw stability augmentation control in the lateral direction specifically includes: according toConstructing a control law of a yaw channel in a transverse and lateral loop, wherein delta r is a rudder deflection angle instruction, k r is a yaw channel control parameter,/>A high pass filtered value for yaw rate r; constructing a control law of an inner ring roll angle loop in a lateral loop according to delta a＝kpp+kφ(φ-φpr)+kφi∫(φ-φpr) dt, wherein delta a is an aileron rudder deflection angle instruction, p is a roll angle rate, phi is an actual roll angle, phi pr is a desired roll angle instruction, k p is a first roll angle loop control law parameter, k φ is a second roll angle loop control law parameter, and k φi is a third roll angle loop control law parameter; according to/>Constructing a control law of an outer loop roll angle loop in a transverse lateral loop, wherein DYr is a yaw rate, DY is a route lateral deviation, DY i is an integral of the route lateral deviation DY, deltapsi V is a deviation between a track angle at the current moment of an aircraft and a desired course, k dyr is a first route tracking loop control law parameter, k dy is a second route tracking loop control law parameter, k dyi is a third route tracking loop control law parameter,/>Tracking loop control law parameters for a fourth route; and performing course tracking control and yaw stability enhancement control according to the control law of a yaw channel in the transverse lateral loop, the control law of an inner ring roll angle loop in the transverse lateral loop and the control law of an outer ring roll angle loop in the transverse lateral loop.
By applying the technical scheme of the invention, the unpowered downslide control method of the solar unmanned aerial vehicle is provided, the inner ring completes tracking of expected speed through pitch angle adjustment in an unpowered state, the outer ring completes tracking of a longitudinal section through an expected vertical speed instruction, the tracking of expected heading is completed in a lateral loop, and stability increasing control is performed on a yaw channel, so that the speed and the gesture stability of the unmanned aerial vehicle are ensured, meanwhile, track tracking is completed to the greatest extent, and the reliability and the safety of flight of the unmanned aerial vehicle in the unpowered state are ensured. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the solar unmanned aerial vehicle unmanned slip control method in the prior art mainly aims at the unmanned slip landing stage, is large in calculated amount and low in engineering feasibility, and cannot meet the requirements of unmanned aerial vehicle flight safety and energy optimization.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 shows a schematic flow chart of a method for controlling the slip of a solar unmanned aerial vehicle under power, according to a specific embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a speed loop control architecture provided in accordance with a specific embodiment of the present invention;
FIG. 3 shows a schematic view of a pitch loop control architecture provided in accordance with a specific embodiment of the present invention;
FIG. 4 shows a schematic diagram of a yaw circuit control structure provided in accordance with a specific embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of a roll angle circuit control architecture provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a control architecture for an airline tracking control loop, provided in accordance with a specific embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, according to a specific embodiment of the present invention, there is provided a solar unmanned aerial vehicle unpowered downslide control method, including: the inner ring carries out tracking adjustment on the expected speed according to the pitch angle; the outer ring tracks and adjusts the expected speed according to the expected vertical speed command; and performing course tracking control and yaw stability augmentation control on the lateral direction to complete unpowered gliding control of the solar unmanned aerial vehicle.
By the configuration mode, the unpowered downslide control method of the solar unmanned aerial vehicle is provided, in the unpowered state, the inner ring completes tracking of expected speed through pitch angle adjustment, the outer ring completes tracking of a longitudinal section through an expected vertical speed instruction, the transverse side loop completes tracking of expected heading, and the yaw channel is subjected to stability increasing control, so that the speed and the gesture stability of the unmanned aerial vehicle are ensured, meanwhile, track tracking is completed to the greatest extent, and the reliability and the safety of flying of the unmanned aerial vehicle in the unpowered state are ensured. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the solar unmanned aerial vehicle unmanned slip control method in the prior art mainly aims at the unmanned slip landing stage, is large in calculated amount and low in engineering feasibility, and cannot meet the requirements of unmanned aerial vehicle flight safety and energy optimization.
Further, in the invention, in order to realize the unmanned power slip control of the solar unmanned aerial vehicle, firstly, the inner ring tracks and adjusts the expected speed according to the pitch angle. In the unmanned aerial vehicle power down sliding stage of the solar unmanned aerial vehicle, unmanned aerial vehicle power input can only change the flight track through adjusting the control surface. Thus the pitch angle adjustment is used to complete the speed adjustment. When the elevator is deflected up, the aircraft speed decreases and the glide angle increases in the forward direction. Conversely, as the elevator deflects downward, the aircraft speed increases and the glide angle increases in the negative direction. The speed can be quickly adjusted by using the longitudinal gesture, and the quick convergence of the speed loop can be ensured.
As a specific embodiment of the present invention, the speed loop control structure is shown in fig. 2, which illustrates a speed loop control structure for tracking the desired indicated airspeed by the unmanned aerial vehicle, wherein V ias_pr is the desired indicated airspeed, V is the indicated airspeed, the speed loop control employs a PID controller, K V is a first speed loop control parameter, K Vi is a second speed loop control parameter, θ pr is a desired pitch angle command,Maintaining a loop transfer function for the pitch angle of the unmanned aerial vehicle, namely a response loop transfer function for tracking the expected pitch angle of the unmanned aerial vehicle,/>For unmanned aerial vehicle pitch angle to speed response transfer function,/>As an integrating module, the control law of the speed loop can be obtained according to the speed control loop structure shown in fig. 2: θ pr＝KV(V-Vias_pr)+KVi∫(V-Vias_pr) dt, the desired speed can be tracked and adjusted according to the control law of the speed loop.
In this embodiment, the drone pitch hold loop transfer functionAs shown in FIG. 3, the pitch angle tracking loop adopts a PD controller, wherein k q is a first controller parameter, k θ is a second controller parameter, delta e is an elevator offset instruction, G d(s) is a steering engine model transfer function, and/ >Is a transfer function of unmanned aerial vehicle elevator deflection to pitch angle rate q. The control law of the inner loop pitch angle loop in the speed loop can be obtained according to the pitch angle loop control structure shown in fig. 3: Wherein θ is a pitch angle command.
In addition, in the invention, after the inner ring is completed to carry out tracking adjustment on the expected speed according to the pitch angle, the outer ring carries out tracking adjustment on the expected speed according to the expected vertical speed command. According to specific flight conditions, if the engine fails to shut down in the flight process, in order to ensure the speed and the attitude of the unmanned aerial vehicle to be stable, only the safe flight speed needs to be set, and the control law of the speed loop designed in the steps is adopted to carry out fixed airspeed forced landing, so that the flight safety is ensured. If the unmanned aerial vehicle is in the air for saving energy, the unmanned aerial vehicle can track the expected sliding speed according to task requirements by adopting unpowered sliding, and a control strategy for tracking the vertical speed can be adopted longitudinally, so that the speed command of the unmanned aerial vehicle can be regulated according to the set vertical speed.
As a specific embodiment of the invention, the control law of the longitudinal vertical speed loop can be designed to be
Wherein V c is the navigation point binding speed or the set reference speed,/>To expect a vertical instruction,/>Is vertical speed/>For the first droop control loop control law parameters,/>And controlling the law parameters for the second vertical speed control loop. The desired speed can be adjusted according to the control law of the longitudinal droop circuit. Because unmanned aerial vehicle is unpowered state, unmanned aerial vehicle hangs down fast and speed control scope is comparatively limited, need earlier stage to unmanned aerial vehicle unpowered gliding characteristic analysis, confirm gliding envelope line scope, avoid appearing the state and take place outside the safe flight envelope line.
Further, in the invention, after the outer ring performs tracking adjustment on the expected speed according to the expected vertical speed instruction, course tracking control and yaw stability augmentation control are performed on the lateral direction so as to complete unpowered gliding control of the solar unmanned aerial vehicle.
For the yaw channel, the yaw rate is introduced into the yaw channel and fed back to the rudder, so that the yaw damping can be increased, and the Holland rolling damping ratio can be improved. As an embodiment of the present invention, the control structure of the yaw circuit in the lateral side loop is shown in fig. 4, where δ r is a rudder deflection angle command, k r is a yaw path control parameter, G d(s) is a steering engine model transfer function,For transfer function of unmanned aerial vehicle rudder deflection to yaw rate r,/>For a high pass filtered value of yaw rate r, G f(s) is the angular rate high pass filter transfer function. The control law/>, of the yaw passage in the lateral side loop can be obtained according to the control structure of the yaw loop in the lateral side loop shown in fig. 4
For the transverse and lateral loops, the inner loop is a rolling angle maintaining loop, and the outer loop is a course tracking control loop. As a specific embodiment of the invention, the control structure of the inner loop roll angle loop in the lateral loop is shown in FIG. 5, wherein the loop adopts a PID control strategy, delta a is an aileron rudder deflection angle command, p is a roll angle rate, phi is an actual roll angle, phi pr is a desired roll angle command, k p is a first roll angle loop control law parameter, k φ is a second roll angle loop control law parameter, k φi is a third roll angle loop control law parameter,And G d(s) is a steering engine model transfer function, which is a transfer function of the unmanned aerial vehicle aileron steering to a roll angle rate p. The control law of the inner ring roll angle loop in the lateral loop can be obtained according to the control structure of the roll angle loop shown in fig. 5: delta a＝kpp+kφ(φ-φpr)+kφi∫(φ-φpr) dt.
The control structure of the outer loop route tracking control loop in the lateral side loop is shown in fig. 6, wherein the loop adopts a PID control structure, DY pr is the expected route lateral deviation, DY is the route lateral deviation, DYr is the yaw rate, deltapsi V is the deviation between the current moment track angle and the expected course of the aircraft, k dyr is a first route tracking loop control law parameter, k dy is a second route tracking loop control law parameter, k dyi is a third route tracking loop control law parameter,For the fourth course tracking loop control law parameter, G φb(s) is the roll angle loop control transfer function, D2R is the angular radian, R2D is the radian rotation angle, V gnd is the ground speed, G is the gravitational acceleration, and the control law of the outer ring roll angle loop in the lateral loop can be obtained according to the control structure of the course tracking control loop shown in fig. 6: /(I)Where DYi is the integral of the course lateral deviation DY.
And performing course tracking control and yaw stability enhancement control according to the control law of a yaw channel in the lateral side loop, the control law of an inner ring roll angle loop in the lateral side loop and the control law of an outer ring roll angle loop in the lateral side loop so as to complete unpowered gliding control of the solar unmanned aerial vehicle.
In the invention, in order to ensure the flight safety of the unmanned aerial vehicle in the vehicle closing state, the unmanned aerial vehicle speed control is ensured to be in a safety range, and compared with other research control laws, the solar unmanned aerial vehicle unpowered downslide control method mainly comprises speed control under the unpowered condition, longitudinal vertical speed control and transverse lateral deviation correction control, and can solve the speed stability control under the unmanned aerial vehicle unpowered downslide state. According to the speed control method, the speed is adjusted by adjusting the gesture of the unmanned aerial vehicle, the expected speed is tracked through the speed loop in the sliding process, and the speed can be tracked and converged rapidly. And based on speed safety control, longitudinal and transverse lateral track profile tracking is performed based on unmanned aerial vehicle control capability: the adjustment of the speed loop is completed by the adjustment of the longitudinal posture, and meanwhile, the tracking of the expected vertical speed is completed on the basis of ensuring the speed tracking according to the task requirement, so that the tracking of the longitudinal section is completed. The lateral loop completes tracking of expected heading through rolling, stability enhancement control is carried out on a yaw channel, and the solar unmanned aerial vehicle unpowered downslide control method can ensure the tracking capacity and safety of unmanned aerial vehicle flight under unpowered conditions.
In order to further understand the present invention, the following describes the method for controlling the unpowered downslide of the solar unmanned aerial vehicle according to the present invention in detail with reference to fig. 1 to 6.
As shown in fig. 1 to 6, according to an embodiment of the present invention, there is provided a solar unmanned aerial vehicle unpowered downslide control method including the steps of.
Step one, constructing a control law of a speed loop according to theta pr＝KV(V-Vias_pr)+KVi∫(V-Vias_pr) dt, and tracking and adjusting the expected speed according to the control law of the speed loop.
Step two, according toAnd constructing a control law of the longitudinal vertical speed loop, and adjusting the expected speed according to the control law of the longitudinal vertical speed loop.
Step three, according toConstructing control law of yaw channel in lateral loop, constructing control law of inner ring roll angle loop in lateral loop according to delta a＝kpp+kφ(φ-φpr)+kφi∫(φ-φpr) dt and constructing control law of yaw channel in lateral loop according to delta a＝kpp+kφ(φ-φpr)+kφi∫(φ-φpr) dtAnd constructing a control law of an outer ring roll angle loop in the transverse lateral loop, and performing course tracking control and yaw stability augmentation control according to the control law of a yaw channel in the transverse lateral loop, the control law of an inner ring roll angle loop in the transverse lateral loop and the control law of an outer ring roll angle loop in the transverse lateral loop.
In summary, the invention provides an unpowered downslide control method of a solar unmanned aerial vehicle, which is characterized in that in an unpowered state, an inner ring completes tracking of expected speed through pitch angle adjustment, an outer ring completes tracking of a longitudinal section through an expected vertical speed instruction, a lateral loop completes tracking of expected heading, and stability increasing control is performed on a yaw channel, so that speed and gesture stability of the unmanned aerial vehicle are ensured, meanwhile, track tracking is completed to the greatest extent, and reliability and safety of flight of the unmanned aerial vehicle in the unpowered state are ensured. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the solar unmanned aerial vehicle unmanned slip control method in the prior art mainly aims at the unmanned slip landing stage, is large in calculated amount and low in engineering feasibility, and cannot meet the requirements of unmanned aerial vehicle flight safety and energy optimization.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The solar unmanned aerial vehicle unpowered downward sliding control method is characterized by comprising the following steps of:
the inner ring carries out tracking adjustment on the expected speed according to the pitch angle;
The outer ring carries out tracking adjustment on the expected speed according to the expected vertical speed instruction, and the method comprises the following steps:
According to Constructing a control law of a longitudinal vertical speed loop, wherein V c is the navigation point binding speed or the set reference speed,/>To expect a vertical instruction,/>Is vertical speed/>For the first droop control loop control law parameters,/>Control law parameters for the second vertical speed control loop; adjusting the expected speed according to the control law of the longitudinal vertical speed loop;
performing course tracking control and yaw stability augmentation control on the lateral direction to complete unpowered gliding control of the solar unmanned aerial vehicle; the course tracking control and the yaw stability augmentation control in the lateral direction specifically comprise:
According to Constructing a control law of a yaw channel in a transverse and lateral loop, wherein delta r is a rudder deflection angle instruction, k r is a yaw channel control parameter,/>A high pass filtered value for yaw rate r;
Constructing a control law of an inner ring roll angle loop in a lateral loop according to delta a＝kpp+kφ(φ-φpr)+kφi∫(φ-φpr) dt, wherein delta a is an aileron rudder deflection angle instruction, p is a roll angle rate, phi is an actual roll angle, phi pr is a desired roll angle instruction, k p is a first roll angle loop control law parameter, k φ is a second roll angle loop control law parameter, and k φi is a third roll angle loop control law parameter;
Constructing a control law of an outer ring roll angle loop in a transverse lateral loop according to phi pr＝-kdyrDYr-kdyDY-kdyiDYi-kψVΔψV, wherein DYr is a yaw rate, DY is a route lateral deviation, DY i is an integral of the route lateral deviation DY, deltapsi V is a deviation between a track angle and an expected heading of an aircraft at the current moment, k dyr is a first route tracking loop control law parameter, k dy is a second route tracking loop control law parameter, k dyi is a third route tracking loop control law parameter, and k ψV is a fourth route tracking loop control law parameter;
And performing course tracking control and yaw stability augmentation control according to the control law of the yaw channel in the transverse lateral loop, the control law of the inner ring roll angle loop in the transverse lateral loop and the control law of the outer ring roll angle loop in the transverse lateral loop.
2. The method for controlling the unmanned aerial vehicle to slide down under the power of the solar unmanned aerial vehicle according to claim 1, wherein the inner ring performs tracking adjustment on the expected speed according to the pitch angle specifically comprises:
Constructing a control law of a speed loop according to theta pr＝KV(V-Vias_pr)+KVi∫(V-Vias_pr) dt, wherein theta pr is a desired pitch angle instruction, V ias_pr is a desired indicated airspeed, V is the indicated airspeed, K V is a first speed loop control parameter, and K Vi is a second speed loop control parameter;
and tracking and adjusting the expected speed according to the control law of the speed loop.
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